EP2774838B1 - Avion autonome - Google Patents

Avion autonome Download PDF

Info

Publication number
EP2774838B1
EP2774838B1 EP14155509.4A EP14155509A EP2774838B1 EP 2774838 B1 EP2774838 B1 EP 2774838B1 EP 14155509 A EP14155509 A EP 14155509A EP 2774838 B1 EP2774838 B1 EP 2774838B1
Authority
EP
European Patent Office
Prior art keywords
tether
aircraft
hooks
coupled
power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14155509.4A
Other languages
German (de)
English (en)
Other versions
EP2774838A3 (fr
EP2774838A2 (fr
Inventor
James J. Childress
John J. Viniotis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boeing Co
Original Assignee
Boeing Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Boeing Co filed Critical Boeing Co
Publication of EP2774838A2 publication Critical patent/EP2774838A2/fr
Publication of EP2774838A3 publication Critical patent/EP2774838A3/fr
Application granted granted Critical
Publication of EP2774838B1 publication Critical patent/EP2774838B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/40—Balloons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/40—Balloons
    • B64B1/50—Captive balloons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/60—Tethered aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/30—Lighter-than-air aircraft, e.g. aerostatic aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/60—UAVs characterised by the material
    • B64U20/65—Composite materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B64U2201/202—Remote controls using tethers for connecting to ground station

Definitions

  • the subject matter described herein relates to aerial surveillance and more particularly to an autonomous aircraft which may be used for aerial surveillance.
  • Aircraft particularly smaller autonomous and semi-autonomous aircraft such as surveillance drones, blimps, and quad rotors, may be launched from ground-based launch platforms. There remains a need for autonomous aircraft which can operate autonomously over extended time periods.
  • JP2000289695 is titled "Moored Flight Body and its Utilizing System”.
  • WO 01/68447 A2 is titled "Internet linked environmental data collection system and method”.
  • a system comprises an electrically powered buoyant aircraft, a control system to maneuver the aircraft and a tether adapted to couple to the aircraft and to a ground-based power supply to provide power to the aircraft while the aircraft is coupled to the tether, wherein the aircraft can disconnect autonomously from the tether in response to a command signal.
  • the system further comprises a release mechanism to release the aircraft from the tether.
  • the release mechanism comprises two opposing tether hooks being pivotally mounted to a frame assembly of the aircraft at a first end such that they can rotate between a first position in which the tether hooks are retracted and a second position in which the tether hooks are extended.
  • the tether hooks comprise a curved section at a second end opposite the first end, which curved section is configured to receive a tether ball coupled to the tether.
  • An electrically powered buoyant aircraft comprises an inflatable bladder filled with a gas that is less dense than air, a frame assembly to couple to the inflatable bladder, a control system to maneuver the aircraft, and an interface to couple the aircraft to a tether which provides a connection to a ground-based power supply to provide power to the aircraft while the aircraft is coupled to the tether, wherein the aircraft can disconnect autonomously from the tether in response to a command signal.
  • a method to operate an aircraft comprises coupling an electrically powered buoyant aircraft to a tether which provides a connection to a ground-based power supply to provide power to the aircraft while the aircraft is coupled to the tether, and autonomously disconnecting the aircraft from the tether in response to a command signal.
  • Autonomously disconnecting the aircraft from the tether in response to a command signal further comprises activating a release mechanism to release the tether from the aircraft.
  • the release mechanism comprises two opposing tether hooks being pivotally mounted to a frame assembly of the aircraft at a first end such that they can rotate between a first position in which the tether hooks are retracted and a second position in which the tether hooks are extended.
  • the tether hooks comprise a curved section at a second end opposite the first end, which curved section is configured to receive a tether ball coupled to the tether.
  • connection means that one component/feature is in direct physical contact with another component/feature.
  • coupled means that one component/feature is directly or indirectly joined to (or directly or indirectly communicates with) another component/feature, and not necessarily directly physically connected.
  • Figs. 1A-1C and Fig. 3 are a schematic illustrations of a system 100 comprising an autonomous aircraft, according to embodiments.
  • a system 100 comprises an electrically powered buoyant aircraft 110, a control system 130 to maneuver the aircraft 110, and a tether 140 adapted to couple to the aircraft 110 and to a remote power supply 180 to provide power to the aircraft 110 while the aircraft 110 is coupled to the tether 140.
  • Aircraft 110 may comprise an inflatable bladder 112 filled with a gas that is less dense than air and a frame assembly 120 to couple to the inflatable bladder 112.
  • inflatable bladder 112 may be formed from a durable, lightweight polymer material formed in the shape of a cylindrical body and having a diameter that measures between 12 inches and 36 inches and a length that measures between 5 feet and 35 feet.
  • the inflatable bladder 112 may be filled with a gas such as helium or hydrogen.
  • suitable gasses may include, but are not limited to, neon, ammonia, and/or methane.
  • the aircraft 110 may further comprise a frame assembly 120 to couple to the inflatable bladder 112.
  • the frame assembly 120 may be formed from a suitable lightweight material, e.g., a lightweight polymer, graphite, carbon composite material or the like.
  • the frame assembly 120 may comprise one or more arms 122 configured to wrap around an exterior portion of the inflatable bladder 112 when the bladder is inflated with a gas to help retain the inflatable bladder 112 with the frame 120.
  • One or more thrust generators 150 may be coupled to the frame assembly 120
  • a thrust generator 150 may include a propeller or other engine to generate thrust for the aircraft 110.
  • the thrust generators 150 may be rotatable between a first position ( Fig. 1B ) in which the thrust generators 150 provide thrust in a forward or reverse direction and a second position ( Fig. 1C ) in which the thrust generators 150 provide thrust in a upwardly or downwardly direction.
  • the thrust generators 150 may be adjusted at angles between the first position and the second position to provide directional control to the aircraft 110.
  • the thrust generators 150 may be controlled independently such that differences in thrust generated by the respective thrust generators 150 may facilitate providing directional control to aircraft 110.
  • aircraft 110 may comprise one or more control surfaces such as fins 114 which facilitate directional control of aircraft 110.
  • the fins 114 depicted in Figs. 1A-1C are passive control surfaces.
  • the aircraft may comprise active control surfaces.
  • At least one image capture device 156 may be coupled to the frame assembly 120.
  • the image capture device 156 may comprise one or more cameras or video monitors which may have a fixed or variable focal length.
  • suitable image capture devices include closed circuit digital cameras, digital video devices, single lens reflex cameras, or the like.
  • Fig. 1D is a schematic illustration of a tether 140 which may be used in connection with an autonomous aircraft, according to embodiments.
  • a tether 140 may optionally comprise a fluid passage tube 142 which, in the embodiment depicted in Fig. 1D extends axially in the center of the tether 140 to allow a fluid, e.g., a lighter than air gas, to be provided to the inflatable bladder 112 when the aircraft 110 is coupled to the tether 140.
  • Tether 140 may further comprise an electrical bus which comprises a first conductor 144 and a second conductor 146 to conduct alternating current (AC) power. In the embodiment depicted in Fig. 1D the first conductor 144 and the second conductor 146 are arranged coaxially.
  • Tether 140 may further comprise an optional communication bus 148 which is also arranged coaxially.
  • a protective sheath 149 may surround the communication bus 148.
  • Remote power supply 180 may be a ground-based power supply that generates alternating current (AC) power at a voltage range between 270 volts and 1200 volts.
  • the AC power may be conducted by conductors 144, 146 through the tether to aircraft 110.
  • Aircraft 110 may comprise a power converter 158 to convert the AC power supplied by remote power supply 180 from AC power to a direct current (DC) power at a voltage range between 12 volts and 48 volts and a battery 159 to store power.
  • DC direct current
  • the tether 140 may be removably coupled to the aircraft 110 by a suitable interface that provides a fluid connection between the fluid passage tube 142 and the inflatable bladder 112, an electrical connection between the electrical conductors 144, 146 and the power converter 158.
  • the aircraft 110 does comprise a release mechanism 154 to release the aircraft 110 from the tether.
  • Figs. 2A-2E are schematic illustrations of a release mechanism which may be used with an autonomous aircraft, according to embodiments.
  • the release mechanism 154 does comprise two opposing tether hooks 210a, 210b, which may be referred to collectively here by reference numeral 210.
  • tether hooks 210 are pivotably mounted to frame 120 at a first end such that they can rotate between a first position in which the tether hooks 210 are retracted and a second position in which the tether hooks 210 are extended, as illustrated in Figs. 2A-2F .
  • Tether hooks 210 may comprise a curved section 212 at a second end, opposite the first end. Curved section 212 may be configured to receive a tether ball 230 which may be coupled to the tether 140. Tether ball 230 may be coupled to a shaft 232.
  • a locking nut 234 may be mounted on the shaft 232 and moveable between a first position ( Fig. 2C ) in which the locking nut 234 is displaced from the curved section 212 of the tether hooks 210 and a second position ( Fig. 2D ) in which the locking nut is adjacent the curved section 212 of the tether hooks 210 in order to lock the tether hooks 210 in place to retain the tether ball 230.
  • tether hooks 210 may comprise an actuator 236 to actuate release of the tether ball 230, and thereby the tether 140, from the tether hooks 210.
  • the tether hooks 210 may be biased in an outwardly direction such that in a resting state the tether hooks are displaced from the tether ball 230 ( Fig. 2F ).
  • the actuator 236 may comprise a latch to retain the tether hooks 210 in a closed position ( Fig. 2E ). The latch may be released by a solenoid or other actuator 236 to allow the tether hooks 210 to return to a resting position ( Fig. 2F ) to release the tether ball 230.
  • the tether ball 230 may comprise electrical contacts which couple with the electrical bus conductors 144, 146 in the tether 140, and the tether hooks 210 may comprise corresponding electrical contacts to allow for transfer of electrical power from the tether 140 to the tether hooks 210.
  • Electrical conduits 214a, 214b may extend from the respective tether hooks 210a, 210b to provide an electrical connection with the power converter 158.
  • aircraft 110 comprises an onboard flight control system 130, which in turn may comprise one or more processor(s) 132, and an input/output interface 134.
  • the onboard flight control system 130 may be communicatively coupled to a remote flight control system 170 via a suitable communication link.
  • the tether 140 may comprise a communication bus to provide a communication link between the onboard flight control system 130 and the remote flight control system 170.
  • a wireless communication link may be provided between onboard flight control system 130 and remote flight control system 170.
  • Remote flight control system may comprise an I/O interface 172, one or more processors 174 and a display or other input/output mechanism 176.
  • Onboard flight control system 130 may be coupled to the thrust generator(s) 150 and control surfaces 152 to control flight operations of aircraft 110. Further onboard flight control system 130 may be coupled to the release mechanism 154 and the image capture device 156.
  • aircraft 110 may be controlled via the remote flight control system 170 operated automatically or by an operator interfacing with a display or other input/output mechanism 176.
  • the remote flight control system 170 may generate command signals which are transmitted to the onboard flight control system 130 which, in turn, controls the thrust generator(s) 150 and/or control surface(s) 152 to control flight operations of aircraft 110. Further the remote flight control system 170 may generate control signals to manage the operations of the release mechanism 154 and image capture device(s) 156.
  • Fig. 4 is a flowchart illustrating operations in a method to operate an autonomous aircraft 110, according to embodiments.
  • the aircraft 110 is coupled to a tether 140.
  • the aircraft 110 is powered (operation 415) through the tether 140.
  • the aircraft 110 draws its power from the remote power source 180.
  • the onboard flight control system 130 receives a control signal, e.g., from the remote flight control system 170 to release the aircraft from the tether 140, and operation 425 the onboard flight control system 130 activates the release mechanism 154 to release the tether ball 230, and thereby the tether 140, from the tether hooks, thereby allowing the aircraft 110 to operate autonomously off tether. In this configuration the aircraft 110 draws its power from the battery 159.
  • a control signal e.g., from the remote flight control system 170 to release the aircraft from the tether 140
  • the onboard flight control system 130 activates the release mechanism 154 to release the tether ball 230, and thereby the tether 140, from the tether hooks, thereby allowing the aircraft 110 to operate autonomously off tether.
  • the aircraft 110 draws its power from the battery 159.
  • an electric-powered aircraft 110 capable of being deployed in two modes of operation: a tethered mode and an untethered, or free-flight, mode.
  • the aircraft 110 and its components may weigh between about 5 and 10 pounds and the inflatable bladder may be filled with a gas that is less dense than air such that the aircraft 110 is approximately neutrally buoyant and can hover for extended durations of time.
  • the aircraft draws power from a remote, e.g., ground-based power supply via the electrical bus conductors 144, 146 in the tether 140.
  • the thrust generators 150 may be activated to provide any additional lift required to support the weight of the tether 140 coupled to the aircraft.
  • the tether may extend 500 feet or more, providing a wide operational range for the aircraft 110.
  • the aircraft draws power from the battery 159. Because the aircraft 110 is approximately neutrally buoyant the thrust generator(s) are required only for forward/reverse motion; thrust is not required to maintain altitude. This reduces the power drawn from the battery 159.
  • Figs. 5A-5D are schematic illustrations of various deployment scenarios of a system comprising an autonomous aircraft, according to embodiments.
  • the aircraft 110 may be deployed from a water-based vehicle such as a ship 510 ( Fig. 5A ), a ground-based vehicle such as an automobile 515 ( Fig. 5B ) or a ground-based structure such as a tower 520 ( Fig. 5C ).
  • the aircraft may be coupled to an airborne structure such as a buoyant balloon 525 ( Fig. 5D ) via a ring 530.
  • the balloon 525 and ring 530 in some embodiments help to support the weight of the tether 140, which allows the aircraft 110 to use a longer tether 140, thereby extending the tethered range of the aircraft 110.
  • One skilled in the art will recognize that other deployment scenarios are possible.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Electric Cable Installation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (12)

  1. Système (100), comprenant :
    un aéronef flottant alimenté électriquement (110) ;
    un système de commande (130) destiné à manœuvrer l'aéronef (110) ; et
    une amarre (140) adaptée à s'accoupler à l'aéronef (110) et à une alimentation en énergie distante (180) destinée à alimenter en énergie l'aéronef (110) tandis que l'aéronef (110) est accouplé à l'amarre (140), l'aéronef (110) étant apte à se détacher de façon autonome de l'amarre (140) en réponse à un signal d'ordre,
    le système (100) comprenant en outre un mécanisme de libération (154) destiné à libérer l'aéronef (110) de l'amarre (140), le mécanisme de libération (154) comprenant deux crochets opposés (210a, 210b) d'amarre montés pivotants sur un ensemble cadre (120) de l'aéronef (110) à une première extrémité de façon à pouvoir effectuer une rotation entre une première position dans laquelle les crochets (210a, 210b) d'amarre sont rentrés et une deuxième position dans laquelle les crochets (210a, 210b) d'amarre sont sortis, et les crochets d'amarre comprenant un tronçon incurvé (212) à une deuxième extrémité opposée à la première extrémité, lequel tronçon incurvé (212) est configuré pour recevoir une balle (230) d'amarre accouplée à l'amarre (140).
  2. Système (100) selon la revendication 1, dans lequel :
    l'alimentation en énergie distante (180) fournit de l'énergie en courant alternatif (CA) à l'amarre (140) à une tension comprise entre 270 volts et 1200 volts ; et
    l'aéronef (110) comprend un convertisseur de courant (158) destiné à convertir l'énergie en CA en une énergie en courant continu (CC) à une tension comprise entre 12 volts et 48 volts.
  3. Système (100) selon la revendication 1 ou 2, dans lequel l'aéronef (110) comprend :
    une vessie gonflable (112) remplie d'un gaz moins dense que l'air ; et
    un ensemble cadre (120) destiné à s'accoupler à la vessie gonflable.
  4. Système (100) selon la revendication 3, comprenant en outre au moins un générateur de poussée accouplé à l'ensemble cadre (120), le générateur de poussée (150) étant commandé par le système de commande (130) pour manœuvrer l'aéronef (110).
  5. Système (100) selon la revendication 4, dans lequel :
    l'aéronef (110) est à flottabilité neutre ; et
    le générateur de poussée (150) fournit une portance pour supporter le poids de l'amarre (140) lorsque l'aéronef (110) est accouplé à l'amarre (140).
  6. Système (100) selon l'une quelconque des revendications 3 à 5, comprenant en outre au moins un dispositif de capture d'image (156) accouplé à l'ensemble cadre (120).
  7. Système (100) selon l'une quelconque des revendications 1 à 6, dans lequel l'amarre (140) est attachée à une structure au sol et/ou un engin au sol et/ou un engin sur l'eau.
  8. Système (100) selon l'une quelconque des revendications 1 à 7, dans lequel l'amarre (140) est attachée à un ballon flottant (525) par un anneau (530).
  9. Système (100) selon l'une quelconque des revendications 1 à 8, dans lequel l'amarre (140) comprend :
    un bus électrique ;
    un bus de communication (148) ; et
    un tube de passage de fluide (142).
  10. Système (100) selon l'une quelconque des revendications 1 à 9, dans lequel le mécanisme de libération (154) est activé par un système de commande (130) sur l'aéronef (110).
  11. Procédé d'exploitation d'un aéronef (110), comprenant :
    l'accouplement d'un aéronef flottant à alimentation électrique (110) à une amarre (140) qui établit une liaison avec une alimentation en énergie au sol (180) pour alimenter en énergie l'aéronef (110) tandis que l'aéronef (110) est accouplé à l'amarre (140) ; et
    le détachement autonome de l'aéronef (110) de l'amarre (140) en réponse à un signal d'ordre, le détachement autonome de l'aéronef (110) de l'amarre (140) en réponse à un signal d'ordre comprenant l'activation d'un mécanisme de libération (154) pour libérer l'amarre (140) de l'aéronef (110),
    le mécanisme de libération (154) comprenant deux crochets opposés (210a, 210b) d'amarre montés pivotants sur un ensemble cadre (120) de l'aéronef (110) à une première extrémité de façon à pouvoir effectuer une rotation entre une première position dans laquelle les crochets (210a, 210b) d'amarre sont rentrés et une deuxième position dans laquelle les crochets (210a, 210b) d'amarre sont sortis, et les crochets d'amarre comprenant un tronçon incurvé (212) à une deuxième extrémité opposée à la première extrémité, lequel tronçon incurvé (212) est configuré pour recevoir une balle (230) d'amarre accouplée à l'amarre (140).
  12. Procédé selon la revendication 11, comprenant en outre l'exploitation de l'aéronef (110) suite à la libération de l'aéronef (110) de l'amarre (140).
EP14155509.4A 2013-03-08 2014-02-18 Avion autonome Active EP2774838B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US13/791,105 US9045218B2 (en) 2013-03-08 2013-03-08 Autonomous aircraft with disconnectable tether

Publications (3)

Publication Number Publication Date
EP2774838A2 EP2774838A2 (fr) 2014-09-10
EP2774838A3 EP2774838A3 (fr) 2015-08-05
EP2774838B1 true EP2774838B1 (fr) 2020-08-26

Family

ID=50159035

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14155509.4A Active EP2774838B1 (fr) 2013-03-08 2014-02-18 Avion autonome

Country Status (4)

Country Link
US (1) US9045218B2 (fr)
EP (1) EP2774838B1 (fr)
CN (1) CN104029811B (fr)
AU (1) AU2014200597B2 (fr)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9290269B2 (en) 2013-03-15 2016-03-22 CyPhy Works, Inc. Spooler for unmanned aerial vehicle system
US20160185456A1 (en) * 2013-04-08 2016-06-30 Hoverfly Technologies, Inc. Power and data transmission over thin conductor for unmanned aerial vehicle
US9718543B2 (en) * 2014-10-03 2017-08-01 The Boeing Company Guided lift system
US9764837B2 (en) 2014-11-14 2017-09-19 Top Flight Technologies, Inc. Micro hybrid generator system drone
CN104787334B (zh) * 2015-03-31 2016-08-17 西南科技大学 自动脱线装置、系留式无人飞行装置及系留式无人飞行装置的避障方法
CN104828252A (zh) * 2015-06-02 2015-08-12 冯圣冰 一种对电动无人机实施空中续航的方法
CN105129086B (zh) * 2015-07-23 2017-06-27 天津天航智远科技有限公司 一种组合式平流层飞行器系统方案
US9714012B1 (en) 2016-01-22 2017-07-25 International Business Machines Corporation Power source element replacement during vehicle operation
US9764703B2 (en) 2016-01-22 2017-09-19 International Business Machines Corporation Power source element detection and monitoring
CN106143913B (zh) * 2016-07-20 2019-02-15 江苏冰城氢能科技有限公司 垂直起飞供电系统、固定翼无人机及工作方法
WO2018081879A1 (fr) * 2016-11-07 2018-05-11 ALTAVE INDÚSTRIA, COMÉRCIO E EXPORTAçÃO DE AERONAVES LTDA-ME Système aérien captif et câble d'ancrage
GB2557715B (en) 2017-02-28 2019-04-17 Matthew Russell Iain Unmanned aerial vehicles
WO2018182576A1 (fr) * 2017-03-28 2018-10-04 Ford Global Technologies, Llc Distribution de carburant à un véhicule
CN107499522A (zh) * 2017-09-21 2017-12-22 江苏蒲公英无人机有限公司 一种脐带式垂直起降固定翼无人机系统
US11386384B2 (en) 2017-12-22 2022-07-12 Wing Aviation Llc Delivery-location recharging during aerial transport tasks
US11080327B2 (en) * 2019-04-18 2021-08-03 Markus Garcia Method for the physical, in particular optical, detection of at least one usage object
US11691761B2 (en) * 2019-05-17 2023-07-04 FlyFocus Sp. z.o.o. Detachable power cable for unmanned aerial vehicle
US11597534B2 (en) * 2019-06-04 2023-03-07 The Boeing Company Aircraft launching systems and methods
DE102019208630A1 (de) * 2019-06-13 2020-12-17 Volkswagen Aktiengesellschaft Leistungsassistenzsystem zur Unterstützung eines elektrisch antreibbaren, vertikal start- und landefähigen Fluggerätes, Leistungsassistenzeinrichtung und Leistungsassistensverfahren
CN111959769B (zh) * 2020-07-09 2024-04-30 中国科学院地理科学与资源研究所 一种通过气囊进行空中悬停的无人机和控制方法
US11858658B2 (en) * 2021-06-10 2024-01-02 The Boeing Company Apparatus for restraining an aircraft
GB202205519D0 (en) * 2022-04-13 2022-05-25 Agco Int Gmbh Floating unit for lifting a bendable connection element and supply system for a floating unit

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2288673A1 (fr) * 1974-08-19 1976-05-21 Centre Nat Etd Spatiales Organe de largage automatique, en particulier pour ballons spatiaux
WO1997015992A1 (fr) * 1995-10-27 1997-05-01 Israel Aircraft Industries Ltd. Plate-forme stratospherique et son emploi pour les communications

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2723812A (en) * 1952-01-08 1955-11-15 Bernhard A Hohmann Glider pick-up
US3361387A (en) * 1965-03-04 1968-01-02 Arthur D. Struble Jr. Balloon systems
US3658278A (en) * 1969-12-16 1972-04-25 Ferena Batchelor Load transporting system
US3841510A (en) * 1973-04-30 1974-10-15 Us Air Force Aircraft cargo winching system
US4622639A (en) 1983-12-16 1986-11-11 The Boeing Company Aircraft center of gravity and fuel level advisory system
US4787575A (en) * 1987-02-25 1988-11-29 David L. Huskey Signal balloon device
US4842221A (en) * 1988-04-21 1989-06-27 Westinghouse Electric Corp. Lightning hardened tether cable and an aerostat tethered to a mooring system therewith
US6325330B1 (en) * 1998-08-18 2001-12-04 Lockheed Martin Corporation Power generation, transmission, and distribution system for an aerostat using a lightweight tether
JP2000289695A (ja) * 1999-04-06 2000-10-17 Hitachi Ltd 係留型飛行体およびその利用システム
US6811113B1 (en) * 2000-03-10 2004-11-02 Sky Calypso, Inc. Internet linked environmental data collection system and method
US6422506B1 (en) * 2000-10-12 2002-07-23 The United States Of America As Represented By The Secretary Of The Navy Towed airborne array system
US6648273B2 (en) 2001-10-30 2003-11-18 The Boeing Company Light weight and high strength fuselage
US7007625B2 (en) * 2003-09-25 2006-03-07 H2Eye (International) Limited Location and movement of remote operated vehicles
GB2411209A (en) * 2004-02-20 2005-08-24 Rolls Royce Plc Wind-driven power generating apparatus
US20070007384A1 (en) * 2004-12-14 2007-01-11 Sliwa John W Jr Physical threat containment, neutralization and protection means applicable to terrorism, combat and disaster mitigation
US20060284004A1 (en) * 2005-06-14 2006-12-21 Jones Edward B Method of scavenging atmospheric energy, causing rainfall, and for dissipating severe weather formations using an electrostatic dirigible
US7708222B2 (en) * 2007-04-27 2010-05-04 Stratocomm Corporation Long mission tethered aerostat and method of accomplishing
CN201494622U (zh) * 2009-12-18 2010-06-02 杨礼诚 有线电动飞飘飞行器
JP5298243B2 (ja) * 2010-09-28 2013-09-25 サカセ・アドテック株式会社 成層圏滞在施設
US20120223181A1 (en) * 2011-03-01 2012-09-06 John Ciampa Lighter-Than-Air Systems, Methods, and Kits for Obtaining Aerial Images
US9623949B2 (en) * 2011-03-15 2017-04-18 Stratospheric Airships, Llc Systems and methods for long endurance airship operations
US20140183300A1 (en) * 2011-07-20 2014-07-03 L-3 Communications Corporation Tethered payload system and method
US20130233964A1 (en) * 2012-03-07 2013-09-12 Aurora Flight Sciences Corporation Tethered aerial system for data gathering

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2288673A1 (fr) * 1974-08-19 1976-05-21 Centre Nat Etd Spatiales Organe de largage automatique, en particulier pour ballons spatiaux
WO1997015992A1 (fr) * 1995-10-27 1997-05-01 Israel Aircraft Industries Ltd. Plate-forme stratospherique et son emploi pour les communications

Also Published As

Publication number Publication date
CN104029811B (zh) 2017-03-01
AU2014200597B2 (en) 2017-02-16
US20140251743A1 (en) 2014-09-11
CN104029811A (zh) 2014-09-10
US9045218B2 (en) 2015-06-02
EP2774838A3 (fr) 2015-08-05
EP2774838A2 (fr) 2014-09-10
AU2014200597A1 (en) 2014-09-25

Similar Documents

Publication Publication Date Title
EP2774838B1 (fr) Avion autonome
US11919628B2 (en) Unmanned aerial vehicle and method of operation
US10967960B2 (en) Ground movement system plugin for VTOL UAVs
US9650134B2 (en) Unmanned aerial rescue system
US20140183300A1 (en) Tethered payload system and method
US7207525B2 (en) Apparatus for grasping objects in space
US20180134357A1 (en) Kite-powered unmanned underwater vehicle
US10291071B2 (en) Wireless power and data transfer for unmanned vehicles
US20140012433A1 (en) Self-powered releasable aerostat and method and system for releasing and controlling the aerostat
TW201515556A (zh) 有效負載安裝平台
US20170029105A1 (en) Coupling mechanism for aircraft
WO2009153588A1 (fr) Véhicule aérien sans pilote compact
US9205902B2 (en) External payload module for an autonomous underwater vehicle
US20230286636A1 (en) Unmanned airships, aerostats, and hybrid airship-aerostat systems and methods thereof
JP2021518309A (ja) データ回収を伴う展開可能フライトデータレコーダおよび方法
US20080041293A1 (en) Self Contained Underwater Vehicle Modules
US20200255145A1 (en) System and method for underwater deployment of a payload
JP2016170030A (ja) 追尾アンテナシステム、飛翔体および追尾アンテナ装置
RU2647362C2 (ru) Системы и способы запуска летательных аппаратов
KR20160094052A (ko) 개량형 무인 비행체
US11530041B2 (en) Multi-bay drone for removing and replacing a device in a device receptacle in a single visit
US20200216200A1 (en) Grapple-Fixture Deployment Device
JP4505647B2 (ja) 地上状況観測方法および地上状況観測システム
NO20181302A1 (en) An aerial vehicle arrangement

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20140218

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIC1 Information provided on ipc code assigned before grant

Ipc: B64C 39/02 20060101ALI20150701BHEP

Ipc: B64B 1/40 20060101AFI20150701BHEP

R17P Request for examination filed (corrected)

Effective date: 20160107

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20180206

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20190925

INTG Intention to grant announced

Effective date: 20191001

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTC Intention to grant announced (deleted)
INTG Intention to grant announced

Effective date: 20200312

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602014069335

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1306127

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200915

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201228

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201126

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201127

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201126

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200826

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1306127

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200826

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201226

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602014069335

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

26N No opposition filed

Effective date: 20210527

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210228

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210228

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210218

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210218

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20140218

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240228

Year of fee payment: 11

Ref country code: GB

Payment date: 20240227

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240226

Year of fee payment: 11

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200826